#ifndef __PATH_UTILS_H__
#define __PATH_UTILS_H__

#include <iostream>
#include <vector>
#include <math.h>
#include <geometry_msgs/TransformStamped.h>

#include "base_define.h"

namespace path_utils{

    // 获取TF坐标变换
    bool GetTFPose(tf2_ros::Buffer* tf_buffer, geometry_msgs::PoseStamped& global_pose, 
        string father_frame, string child_frame, ros::Time stamp);
    

};

#endif